Systems and Methods for Controlling Substrate Approach Toward a Target Horizontal Plane

ABSTRACT

A determination is made of a real-time azimuthal position of a notch alignment feature located on a support surface of a substrate holder relative to a fixed reference ray extending perpendicularly away from a rotational axis of the substrate holder as the substrate holder rotates about the rotational axis. A determination is made of an approach initiation azimuthal position of the notch alignment feature relative to the fixed reference ray at which vertical movement of the substrate holder should initiate in order to have the notch alignment feature located at a prescribed azimuthal position relative to the fixed reference ray when the substrate holder reaches a prescribed vertical position. A determination is made of a time delay required to have the notch alignment feature located at the approach initiation azimuthal position. Vertical movement of the substrate holder is initiated in accordance with the determined time delay.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application under 35 U.S.C. 120 ofprior U.S. patent application Ser. No. 16/819,004, filed on Mar. 13,2020, issued as U.S. Pat. No. 11,621,187, on Apr. 4, 2023, which is acontinuation application under 35 U.S.C. 120 of prior U.S. patentapplication Ser. No. 15/462,765, filed on Mar. 17, 2017, issued as U.S.Pat. No. 10,593,586, on Mar. 17, 2022. The disclosure of eachabove-identified patent application is incorporated herein by referencein its entirety for all purposes.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to semiconductor device fabrication.

2. Description of the Related Art

Modern semiconductor device fabrication can include performing anelectroplating process on a substrate to plate a layer of conductivematerial within structures present on the substrate. In theelectroplating process, an electroplating cell, i.e., tool, is loadedwith the substrate. The substrate is tilted and rotated prior to entryof the substrate into the electroplating solution to provide for bubbleclearance and process improvement. A potentiostatic electroplatingprocess in which a voltage is applied to the conductive seed layer onthe substrate during entry of the substrate into the electroplatingsolution is typically used in newer technology nodes in order to preventseed material dissolution and to maintain uniform electrical currentdensity on the substrate during entry. In the potentiostaticelectroplating process, plating occurs as soon as the conductive seedlayer material contacts the electroplating solution. The plating resultson the substrate as a function of position on the substrate can becorrelated to how the substrate enters the electroplating solution.Therefore, it is of interest to know which point on the substrate firstcontacts the electroplating solution. It is within this context that thepresent invention arises.

SUMMARY OF THE INVENTION

In an example embodiment, an electroplating system is disclosed. Theelectroplating system includes a substrate holder having a lower surfaceconfigured to contact a backside of a substrate. The substrate holder isconfigured to securely hold the substrate with a frontside of thesubstrate facing downward. The substrate holder has a notch alignmentfeature located at a periphery of the lower surface of the substrateholder. The substrate holder is configured to rotate about a rotationalaxis extending through a centerpoint of the lower surface of thesubstrate holder. The rotational axis is oriented normal to the lowersurface of the substrate holder. The substrate holder is configured totilt relative to a horizontal plane. The substrate holder is configuredto move vertically relative to a bath of electroplating solution to belocated below the substrate holder. The electroplating system includes atilt mechanism connected to the substrate holder to provide angularposition control of the lower surface of the substrate holder relativeto the horizontal plane. The electroplating system includes a liftmechanism connected to the substrate holder to provide vertical positioncontrol of the substrate holder. The electroplating system includes arotation mechanism connected to the substrate holder to providerotational control of the substrate holder about the rotational axis.The electroplating system includes a controller configured to provideintegrated control of the lift mechanism and the rotation mechanism toenable control of an azimuthal position of the notch alignment featureabout the rotational axis relative to a fixed reference ray extendingperpendicularly away from the rotational axis when the substrate holderreaches a prescribed vertical position at which the substrate held onthe substrate holder first contacts the bath of electroplating solution.

In an example embodiment, a system for controlling substrate approachtoward a target horizontal plane is disclosed. The system includes anotch alignment feature location module configured to determine areal-time azimuthal position of a notch alignment feature located at aperiphery of a lower surface of a substrate holder as the substrateholder rotates about a rotational axis oriented normal to the lowersurface of the substrate holder. The real-time azimuthal position of thenotch alignment feature is determined relative to a fixed reference rayextending perpendicularly away from the rotational axis. The system alsoincludes an approach initiation control module configured to determinean approach initiation azimuthal position of the notch alignment featurerelative to the fixed reference ray at which vertical movement of thesubstrate holder should initiate in order to have the notch alignmentfeature located at a prescribed azimuthal position relative to the fixedreference ray when the substrate holder reaches a prescribed verticalposition. The approach initiation control module is further configuredto determine a time delay required to have the notch alignment featurelocated at the approach initiation azimuthal position based on thedetermined real-time azimuthal position of the notch alignment featureand on a real-time rotational status of the substrate holder. Theapproach initiation control module is further configured to initiatevertical movement of the substrate holder in accordance with thedetermined time delay.

In an example embodiment, a method is disclosed for controlling anapproach of a substrate toward a target horizontal plane. The methodincludes positioning a substrate on a support surface of a substrateholder configured to securely hold the substrate. The substrate holderhas a notch alignment feature located at a periphery of the supportsurface of the substrate holder. The substrate holder is configured torotate about a rotational axis extending through a centerpoint of thesupport surface of the substrate holder. The rotational axis is orientednormal to the support surface of the substrate holder. The substrateholder is configured to tilt relative to the target horizontal plane.The substrate holder is configured to move vertically relative to thetarget horizontal plane. The method also includes tilting the substrateholder to a prescribed angular position of the support surface relativeto the target horizontal plane. The method also includes rotating thesubstrate holder about the rotational axis at a prescribed rotationalspeed. The method also includes determining a real-time azimuthalposition of the notch alignment feature as the substrate holder rotatesabout the rotational axis. The real-time azimuthal position of the notchalignment feature is determined relative to a fixed reference rayextending perpendicularly away from the rotational axis. The method alsoincludes determining an approach initiation azimuthal position of thenotch alignment feature relative to the fixed reference ray at whichvertical movement of the substrate holder should initiate in order tohave the notch alignment feature located at a prescribed azimuthalposition relative to the fixed reference ray when the substrate holderreaches a prescribed vertical position relative to the target horizontalplane. The method also includes determining a time delay required tohave the notch alignment feature located at the approach initiationazimuthal position based on the determined real-time azimuthal positionof the notch alignment feature and on the prescribed rotational speed.The method also includes initiating vertical movement of the substrateholder toward the target horizontal plane in accordance with thedetermined time delay.

Other aspects and advantages of the invention will become more apparentfrom the following detailed description, taken in conjunction with theaccompanying drawings, illustrating by way of example the presentinvention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A shows an example diagram of an electroplating system, inaccordance with some embodiments of the present invention.

FIG. 1B shows a View A-A as referenced in FIG. 1A looking toward anunderside of the substrate held by the substrate holder, in accordancewith some embodiments of the present invention.

FIG. 1C shows the View A-A of FIG. 1B with the substrate holder rotatedabout the rotational axis such that the notch alignment feature islocated at an azimuthal position of 90° relative to the fixed referenceray, in accordance with some embodiments of the present invention.

FIG. 2A shows the substrate holder of FIGS. 1A-1C positioned at asubstrate loading position as referenced to the z-direction, inaccordance with some embodiments of the present invention.

FIG. 2B shows the substrate holder of FIGS. 1A-1C positioned at thesubstrate loading position as referenced to the z-direction, with anentry commencement state having been applied to the substrate holder, inaccordance with some embodiments of the present invention.

FIG. 2C shows the substrate holder of FIGS. 1A-1C having been movedvertically through a distance from the substrate loading position to aprescribed vertical position relative to the target horizontal plane, inaccordance with some embodiments of the present invention.

FIG. 2D shows the substrate holder of FIGS. 1A-1C having been movedvertically through a distance from the substrate loading position to atarget processing vertical position, in accordance with some embodimentsof the present invention.

FIG. 3 shows an example architecture of the controller, in accordancewith some embodiments of the present invention.

FIG. 4 shows a flowchart of a method for controlling an approach of asubstrate toward a target horizontal plane, in accordance with someembodiments of the present invention.

FIG. 5A shows a number of substrate metrology haze maps demonstrating alack of control of the notch alignment feature when the substrate firstcontacts the electroplating solution that can occur without the AdvancedNotch Control systems and methods disclosed herein.

FIG. 5B shows a number of substrate metrology haze maps demonstratinghow the Advanced Notch Control systems and methods disclosed hereinprovide for control of the notch alignment feature position relative tothe fixed reference ray when the substrate first contacts theelectroplating solution, in accordance with some embodiments of thepresent invention.

FIG. 6 shows a comparison of the notch alignment feature locationsduring substrate entry for a set of substrates run with different entryconditions both with and without the Advanced Notch Control systems andmethods disclosed herein.

DETAILED DESCRIPTION OF THE INVENTION

In the following description, numerous specific details are set forth inorder to provide a thorough understanding of the present invention. Itwill be apparent, however, to one skilled in the art that the presentinvention may be practiced without some or all of these specificdetails. In other instances, well known process operations have not beendescribed in detail in order not to unnecessarily obscure the presentinvention.

FIG. 1A shows an example diagram of an electroplating system 100, inaccordance with some embodiments of the present invention. Theelectroplating system 100 includes a substrate holder 101 having a lowersurface configured to contact a backside of a substrate 103. Thesubstrate holder 101 is configured to securely hold the substrate 103with a frontside of the substrate 103 facing downward. FIG. 1B shows aView A-A as referenced in FIG. 1A looking toward an underside of thesubstrate 103 held by the substrate holder 101, in accordance with someembodiments of the present invention. As shown in FIG. 1B, the substrateholder 101 has a notch alignment feature 117 located at a periphery ofthe lower surface of the substrate holder 101. The substrate 103 has anotch 119 that the notch alignment feature 117 aligns to when thesubstrate 103 is positioned on the substrate holder 101.

In some embodiments, the substrate 103 is a semiconductor waferundergoing a fabrication procedure. However, it should be understoodthat in various embodiments, the substrate 103 can be essentially anytype of substrate that is subjected to an electroplating process. Forexample, in some embodiments, the term substrate 103 as used herein canrefer to substrates formed of sapphire, GaN, GaAs or SiC, or othersubstrate materials, and can include glass panels/substrates, metalfoils, metal sheets, polymer materials, or the like. Also, in variousembodiments, the substrate 103 as referred to herein may vary in form,shape, and/or size. For example, in some embodiments, the substrate 103referred to herein may correspond to a 200 mm (millimeters)semiconductor wafer, a 300 mm semiconductor wafer, or a 450 mmsemiconductor wafer. Also, in some embodiments, the substrate 103referred to herein may correspond to a non-circular substrate, such as arectangular substrate for a flat panel display, or the like, among othershapes.

As shown in FIGS. 1A and 1B, the substrate holder 101 is configured torotate about a rotational axis 105 extending through a centerpoint ofthe lower surface of the substrate holder 101, as indicated by therotational arrow 109. It should be understood that in variouselectroplating process embodiments the substrate holder 101 can berotated in either a clockwise manner about the rotational axis 105, or acounter-clockwise manner about the rotational axis 105, or in both theclockwise manner and counter-clockwise manner about the rotational axis105. Therefore, it should be understood that the direction of therotational arrow 109 is provided by way of example. The rotational axis105 is oriented normal to the lower surface of the substrate holder 101.The substrate holder 101 is also configured to tilt relative to ahorizontal reference plane 110, such that the lower surface of thesubstrate holder 101 is oriented at a prescribed angular position 112relative to the horizontal reference plane 110. The substrate holder 101is configured to move vertically (in the z-direction) relative to a bathof an electroplating solution 111 to be located below the substrateholder 101.

The electroplating system 100 also includes a tilt mechanism 127connected to the substrate holder 101 to provide angular positioncontrol of the lower surface of the substrate holder 101 relative to thehorizontal reference plane 110. The electroplating system 100 alsoincludes a lift mechanism 129 connected to the substrate holder 101 toprovide vertical position control (in the z-direction) of the substrateholder 101. The electroplating system 100 also includes a rotationmechanism 125 connected to the substrate holder 101 to providerotational control of the substrate holder 101 about the rotational axis105. The electroplating system 100 also includes a controller 131 toprovide control of the tilt mechanism 127, the lift mechanism 129, andthe rotation mechanism 125. More specifically, the controller 131 isconfigured to provide real-time integrated control of the lift mechanism129 and the rotation mechanism 125 to enable control of an azimuthalposition 121 (see FIG. 1B) of the notch alignment feature 117 about therotational axis 105 relative to a fixed reference ray 115 extendingperpendicularly away from the rotational axis 105 when the substrateholder 101 reaches a prescribed vertical position (in the z-direction)relative to a target horizontal plane 113. It should be understood thatthe fixed reference ray 115 is located within a plane coincident withthe lower surface of the substrate holder 101. For example, FIG. 1Cshows the View A-A of FIG. 1B with the substrate holder 101 rotatedabout the rotational axis 105 such that the notch alignment feature 117is located at an azimuthal position 123 of 90° relative to the fixedreference ray 115. In some embodiments, the prescribed vertical positionof the substrate holder 101 relative to the target horizontal plane 113corresponds to a vertical position of the substrate holder 101 at whichthe substrate 103 held on the substrate holder 101 first contacts thebath of the electroplating solution 111. Therefore, in theseembodiments, the controller 131 is configured to provide real-timeintegrated control of the lift mechanism 129 and the rotation mechanism125 to enable control of the azimuthal position 121 (see FIG. 1B) of thenotch alignment feature 117 about the rotational axis 105 relative tothe fixed reference ray 115 when the substrate 103, as held on thesubstrate holder 101, first contacts the bath of the electroplatingsolution 111 as the substrate holder 101 is moved downward in thevertical (z) direction.

Because plating starts as soon as the substrate 101 touches theelectroplating solution 111, knowing and controlling the location on thesubstrate 101 that first contacts the electroplating solution 111 isimportant for process stability and defect troubleshooting purposes.Systems and methods are disclosed herein for accurately monitoring andcontrolling the location on the substrate 101 that first contacts theelectroplating solution 111. The accurate monitoring and controlling ofthe location on the substrate 101 that first contacts the electroplatingsolution 111 can be referred to as Advanced Notch Control (ANC).

Prior to entry of the substrate 103 into the electroplating solution111, there are a number of mechanical and hardware verification stepsperformed by the controller 131, such as verification of proper loadingof the substrate 103 on the substrate holder 101, substrate holder 101rotation velocity verification, substrate holder 101 tilt angleverification, electroplating solution 111 flow rate verification,electroplating solution 111 temperature verification, power supplycommunication and readiness verification, among others. There areinherent hardware and software communication delays in executing thesevarious mechanical and hardware verification steps. Also, because manyof these verification steps are performed after the substrate holder 101has started rotating to provide for throughput improvement, variabilityin the location on the substrate 103 that first contacts theelectroplating solution 111 is seen from substrate-to-substrate, whichcauses process stability issues and impacts overall device yield.

In newer technology nodes with smaller and smaller feature sizes, theelectroplating process can fill an entire feature within a few seconds.Also, most of the voids and catastrophic device defects happen duringthe initial stages of the electroplating process. For example, platingdefects, such as voids and/or seed layer dissolution, among others, canoccur at the initiation of the electroplating process, e.g., within thefirst second of the electroplating process. Also, the flow dynamics ofthe electroplating solution 111 on the surface of the substrate 103 canbe dependent upon the location on the substrate 103 that first contactsthe electroplating solution 111. Therefore, it is necessary to know thespecific location on the substrate 103 that first contacts theelectroplating solution 111 to facilitate troubleshooting.

Conventional electroplating systems do not provide for control ormonitoring of the specific location on the substrate 103 that firstcontacts the electroplating solution 111. A prior “burn-in” approach toidentifying the specific location on the substrate 103 that firstcontacts the electroplating solution 111 was to apply a high voltage (>2V) to a blank Cu seed wafer when the blank Cu seed wafer is moved toinitially contact the electroplating solution 111, causing generation ofa “burn mark” (or “haze mark”) on the blank Cu seed wafer indicative ofwhich location on the blank Cu seed wafer first contacted theelectroplating solution 111. After the electroplating process, the blankCu seed wafer can be measured on a haze map metrology tool to identifythe location that first contacted the electroplating solution 111. Then,the same substrate 103 loading and movement program as used for theblank Cu seed wafer would be used for electroplating another patternedwafer with the assumption that the initial plating contact locationdetermined for the blank Cu seed wafer would be applicable to thepatterned wafer.

However, the defect performance on the substrate 103 is dependent on theoverall entry profile of the substrate 103 into the electroplatingsolution 111, with the location of first contact with the electroplatingsolution 111 being one of many parameters in the overall entry profile.For example, the entry profile can also include parameters such assubstrate 103 tilt angle, substrate 103 rotationacceleration/deceleration/velocity, substrate 103 verticalacceleration/deceleration/velocity, electroplating solution 111 filllevel, electroplating solution 111 composition, electroplating solution111 flow rate, electroplating solution 111 temperature, among others.Therefore, the prior “burn-in” approach is not reliable enough tosupport defect troubleshooting analysis. Also, the prior “burn-in”approach causes additional electroplating tool down time and requiresextra resources and increases costs.

Information on the location on the substrate that first contacts theelectroplating solution 111 is needed to find the root cause of defects,such as voids, and to determine the electroplating step when the defectwas formed. It should be appreciated that the substrate-to-substratevariability with regard to the location on the substrate that firstcontacts the electroplating solution 111 makes its very difficult, ifnot impossible, to correlate defects that have a low hit rate (occurinfrequently) with the location on the substrate that first contacts theelectroplating solution 111 during defect troubleshooting. Therefore,the defect troubleshooting process becomes less reliable when there isvariability in the location on the substrate that first contacts theelectroplating solution 111 from one substrate to another substrate.Also, with regard to the “burn-in” approach, it should be appreciatedthat the location on the blank Cu seed wafer that first contacts theelectroplating solution 111 may not be the same location that firstcontacts the electroplating solution 111 on the patterned substratewhere the defect signature exists, which can complicate the defecttroubleshooting process.

FIGS. 2A-2D show a series of diagrams illustrating movement of thesubstrate holder 101 in an electroplating process, in accordance withsome embodiments of the present invention. FIG. 2A shows the substrateholder 101 of FIGS. 1A-1C positioned at a substrate loading position 201as referenced to the z-direction, in accordance with some embodiments ofthe present invention. At the substrate loading position 201, thesubstrate 103 is positioned on and secured to the substrate holder 101.It should be understood that in some embodiments loading of thesubstrate 103 on the substrate holder 101 can be performed using anysuitable robotic/electromechanical device(s) available within thesemiconductor fabrication industry. The substrate loading position 201is located at a distance 202 above the target horizontal plane 113,where the target horizontal plane 113 is this example corresponds to atop surface of the bath of the electroplating solution 111. It should beunderstood that in other embodiments, the target horizontal plane 113can be established as essentially any horizontal plane normal to thez-direction that provides a suitable reference against which verticalmovement control of the substrate holder 101 can be specified. In someembodiments, the target horizontal plane 113 can be located above thetop surface of the bath of the electroplating solution 111. And, in someembodiments, the target horizontal plane 113 can be located below thetop surface of the bath of the electroplating solution 111. And, in someembodiments, the target horizontal plane 113 can be locatedsubstantially coincident with the top surface of the bath of theelectroplating solution 111.

FIG. 2B shows the substrate holder 101 of FIGS. 1A-1C positioned at asubstrate entry start position 204 as referenced to the z-direction,with an entry commencement state having been applied to the substrateholder 101, in accordance with some embodiments of the presentinvention. The entry commencement state includes tilting of thesubstrate holder 101 such that the lower surface of the substrate holder101 is oriented at the prescribed angular position 112 relative to thehorizontal reference plane 110. The entry commencement state alsoincludes the substrate holder 101 rotating about the rotational axis 105at a prescribed rotational velocity as indicated by the rotational arrow109. It should be understood that at the substrate holder 101 movesvertically from the substrate entry start position 204 toward the targethorizontal plane 113, the notch alignment feature 117 on the lowersurface of the substrate holder 101 will be traveling in a circular pathabout the rotational axis 105 within a plane oriented at the prescribedangular position 112 relative to the horizontal reference plane 110.

FIG. 2C shows the substrate holder 101 of FIGS. 1A-1C having been movedvertically through a distance 205 from the substrate entry startposition 204 to a prescribed vertical position 203 relative to thetarget horizontal plane 113, in accordance with some embodiments of thepresent invention. In some embodiments, the prescribed vertical position203 can be specified by the distance 205 as measured vertically (in thez-direction) between the substrate entry start position 204 and theprescribed vertical position 203. And, in some embodiments, theprescribed vertical position 203 can be specified by a distance 207 asmeasured vertically (in the z-direction) between the prescribed verticalposition 203 and the target horizontal plane 113. In some embodiments,the prescribed vertical position 203 is specified to correspond to thevertical position of the substrate holder 101 at which the substrate 103first contacts the bath of the electroplating solution 111, as indicatedby location 208. In these embodiments, the prescribed vertical position203 can be referred to as the liquid touch point (LTP).

FIG. 2D shows the substrate holder 101 of FIGS. 1A-1C having been movedvertically through a distance 211 from the substrate entry startposition 204 to a target processing vertical position 209, in accordancewith some embodiments of the present invention. In some embodiments,such as the example shown in FIG. 2D, the target processing verticalposition 209 corresponds to a vertical position of the substrate holder101 at which the substrate 103 is fully immersed in the bath of theelectroplating solution 111. However, in some embodiments, the targetprocessing vertical position 209 corresponds to a vertical position ofthe substrate holder 101 at which the substrate 103 is partiallyimmersed in the bath of the electroplating solution 111. And, in someembodiments, the target processing vertical position 209 corresponds toa vertical position of the substrate holder 101 at which the substrate103 is at least half immersed in the bath of the electroplating solution111.

Some prior electroplating tools use two independent master motioncontrollers for controlling the vertical movement of the substrateholder 101 and the rotation of the substrate holder 101, respectively,with each of the two independent master motion controllers communicatingthrough software for coordination of vertical movement and rotationactions. It should be understood that in these prior electroplatingtools, the two independent master motion controllers for controlling thevertical movement of the substrate holder 101 and the rotation of thesubstrate holder 101 do not have the capability to communicate directlywith each other through non-software means, e.g., through circuitry(hardware) and/or firmware. Due to normal signal communication delaysassociated with execution of the control software, it is not feasible tohave very high precision in the timing of coordinated vertical androtational movements of substrate holder 101 with two independent mastermotion controllers communicating with each other through software forcoordination of vertical movement and rotation actions.

Very high precision in the timing of communication between the substrateholder vertical movement and rotation controllers is required to trackthe notch alignment feature 117 position relative to the fixed referenceray 115 as the substrate rotates 101, and to initiate the verticalmovement of the substrate holder 101 toward the bath of theelectroplating solution 111 at the precise moment with the notchalignment feature 117 is correctly positioned relative to the fixedreference ray 115. It should be appreciated that due to the rapidvertical movement of the substrate holder 101 during its approach to theelectroplating solution 111, simply coordinating the substrate holder101 vertical movement and rotation command within software is notsufficient for accurate positioning of the notch alignment feature 117relative to the fixed reference ray 115 at the precise moment when thesubstrate 103 first contacts the electroplating solution 111. Forexample, with the substrate holder 101 rotating about the rotationalaxis 105 at 90 revolutions per minute (RPM), a 10 millisecond variationin execution of a substrate holder 101 vertical movement and/or rotationcommand could result in an azimuthal variation in the position of thenotch alignment feature 117 relative to the fixed reference ray 115 ofover 5 degrees at the precise moment when the substrate 103 firstcontacts the electroplating solution 111. Moreover, changes in theelectroplating system 100 setup, such as the substrate entry startposition 204 relative to the bath of the electroplating solution 111and/or the substrate holder 101 configuration, among others, can affectthe repeatability in controlling the position of the notch alignmentfeature 117 relative to the fixed reference ray 115 at the precisemoment when the substrate 103 first contacts the electroplating solution111.

The controller 131 disclosed herein merges the control of the verticalmovement and rotational movement of the substrate holder 101 into asingle master controller through hardware and/or firmware to enable veryhigh precision in the timing of coordinated vertical and rotationalmovements of substrate holder 101. It should be understood that with thecontrol of the vertical movement and rotational movement of thesubstrate holder 101 implemented in hardware and/or firmware in thesingle master controller 131, the delay in execution of a substrateholder 101 vertical movement and/or rotation command is reduced to lessthan a microsecond. Also, operation of the single master controller 131is programmable through software to enable precisely timed execution ofsubstrate holder 101 vertical movement and/or rotation commands inaccordance with a prescribed recipe to provide for control of theposition of the notch alignment feature 117 relative to the fixedreference ray 115 at the precise moment when the substrate 103 firstcontacts the electroplating solution 111.

As previously mentioned, the controller 131 is configured to providereal-time integrated control of the lift mechanism 129 and the rotationmechanism 125 to enable control of the azimuthal position of the notchalignment feature 117 about the rotational axis 105 relative to thefixed reference ray 115 when the substrate holder 101 reaches theprescribed vertical position 203 relative to the target horizontal plane113. Therefore, it should be understood that the controller 131 isconfigured to provide real-time integrated control of the lift mechanism129 and the rotation mechanism 125 to control an azimuthal distance asmeasured about the rotational axis 105 between the notch alignmentfeature 117 and the location on the substrate 103 that first contactsthe bath of the electroplating solution 111.

FIG. 3 shows an example architecture of the controller 131, inaccordance with some embodiments of the present invention. Thecontroller 131 includes a lift controller 305 configured to control thelift mechanism 129, and a rotation controller 307 configured to controlthe rotation mechanism 125, and a tilt controller configured to controlthe tilt mechanism 127. The controller 131 is also connected to receivedata/information/signals from various electroplating cell metrology 317deployed with the electroplating system 100. For example, in someembodiments, the various electroplating cell metrology 317 can includeone or more sensors for detecting and verifying vertical positions ofthe substrate holder 101 and the top surface of the bath of theelectroplating solution 111. Also, in some embodiments, the variouselectroplating cell metrology 317 can include one or more sensors fordetecting and verifying a rotational status and/or tilt status of thesubstrate holder 101. Also, in some embodiments, the variouselectroplating cell metrology 317 can include one or more sensors fordetecting and verifying one or more condition(s) of the bath of theelectroplating solution 111, such a flow rate, temperature, composition,among others.

The controller 131 includes a notch alignment feature location module319 configured to determine a real-time azimuthal position of the notchalignment feature 117 relative to the fixed reference ray 115 as thesubstrate holder 101 rotates about the rotational axis 105. It should beunderstood that the notch alignment feature location module 319 isconfigured to track and determine the real-time azimuthal position ofthe notch alignment feature 117 relative to the fixed reference ray 115as the substrate holder 101 rotates about the rotational axis 105 whenthe substrate holder 101 is positioned at the substrate entry startposition 204 and prior to initiating vertical movement of the substrateholder 101 toward the prescribed vertical position 203. Also, it shouldbe understood that the notch alignment feature location module 319 isconfigured to track and determine the real-time azimuthal position ofthe notch alignment feature 117 relative to the fixed reference ray 115as the substrate holder 101 rotates about the rotational axis 105 as thesubstrate holder 101 is moved vertically from the substrate entry startposition 204 to the prescribed vertical position 203.

In some embodiments, the notch alignment feature location module 319 isimplemented within the controller 131 as a combination of hardware andfirmware. It should be understood that implementation of the notchalignment feature location module 319 as a combination of hardware andfirmware mitigates data communication delays that would otherwise beincurred if the notch alignment feature location module 319 wereimplemented in software. Therefore, with the notch alignment featurelocation module 319 being implemented as a combination of hardware andfirmware it is possible for the notch alignment feature location module319 to perform its function of determining the real-time azimuthalposition of the notch alignment feature 117 relative to the fixedreference ray 115 as the substrate holder 101 rotates about therotational axis 105.

The controller 131 also includes an approach initiation control module321 configured to determine an approach initiation azimuthal position ofthe notch alignment feature 117 relative to the fixed reference ray 115at which downward movement of the substrate holder 101 should initiatein order to have the notch alignment feature 117 located at a prescribedazimuthal position relative to the fixed reference ray 115 when thesubstrate holder 101 reaches the prescribed vertical position 203. Itshould be understood that the approach initiation azimuthal position ofthe notch alignment feature 117 relative to the fixed reference ray 115is an azimuthal distance as measured in degrees about the rotationalaxis 105 between the fixed reference ray 115 and the notch alignmentfeature 117 present on the lower surface of the substrate holder 101when the substrate holder 101 begins its vertical movement (in thez-direction) from the substrate entry start position 204 toward theprescribed vertical position 203. And, it should be understood that theapproach initiation azimuthal position of the notch alignment feature117 relative to the fixed reference ray 115 is determined such that theazimuthal distance as measured about the rotational axis 105 between thenotch alignment feature 117 and the location on the substrate 103 thatfirst contacts the bath of the electroplating solution 111 will be equalto a prescribed azimuthal distance when the substrate holder 101 reachesthe prescribed vertical position 203.

In some embodiments, the approach initiation control module 321 isimplemented within the controller 131 as a combination of hardware andfirmware. It should be understood that implementation of the approachinitiation control module 321 as a combination of hardware and firmwaremitigates data communication delays that would otherwise be incurred ifthe approach initiation control module 321 were implemented in software.Therefore, with the approach initiation control module 321 beingimplemented as a combination of hardware and firmware it is possible forthe approach initiation control module 321 to perform its function ofdetermining the approach initiation azimuthal position of the notchalignment feature 117 relative to the fixed reference ray 115 at whichdownward movement of the substrate holder 101 should initiate in orderto have the notch alignment feature 117 located at the prescribedazimuthal position relative to the fixed reference ray 115 when thesubstrate holder 101 reaches the prescribed vertical position 203.

In some embodiments, the approach initiation control module 321 isconfigured to process an entry profile to determine the approachinitiation azimuthal position of the notch alignment feature 117relative to the fixed reference ray 115. The entry profile includes arotational movement specification for the substrate holder 101 and avertical movement specification for the substrate holder 101 to beimplemented from initiation of vertical movement of the substrate holder101 at the substrate entry start position 204 until the substrate holder101 reaches the prescribed vertical position 203. In some embodiments,an electroplating recipe can specify use of a certain entry profile foroptimization of the electroplating process, e.g., to minimize airentrapment. The rotational movement specification includes information(such as rotational acceleration, rotational deceleration, and/orrotational velocity, all as a function of time) indicating how thesubstrate holder 101 is to be rotated about the rotational axis 105during the time period from initiation of downward movement of thesubstrate holder 101 at the substrate entry start position 204 until thesubstrate holder 101 reaches the prescribed vertical position 203. Thevertical movement specification includes information (such as verticalacceleration, vertical deceleration, and/or vertical velocity, all as afunction of time) indicating how the substrate holder 101 is to be movedvertically (in the z-direction either up, down, and/or a combination ofup and down) during the time period from initiation of downward movementof the substrate holder 101 at the substrate entry start position 204until the substrate holder 101 reaches the prescribed vertical position203. In some embodiments, the controller 131 is configured to obtain theentry profile from an external source 323, such as a database or thelike.

In some embodiments, the approach initiation control module 321 isconfigured to compute the approach initiation azimuthal position of thenotch alignment feature 117 relative to the fixed reference ray 115based on the entry profile. And, in some embodiments, the approachinitiation control module 321 is configured to obtain the approachinitiation azimuthal position of the notch alignment feature 117relative to the fixed reference ray 115 from an external source 325,such as a database or the like, in which is stored a number ofpre-determined, i.e., pre-computed, approach initiation azimuthalpositions of the notch alignment feature 117 relative to the fixedreference ray 115 for different entry profiles.

The approach initiation control module 321 is also configured todetermine a time delay required to have the notch alignment feature 117located at the approach initiation azimuthal position relative to thefixed reference ray 115 based on the determined real-time azimuthalposition of the notch alignment feature 117 and on a real-timerotational status of the substrate holder 101. The real-time rotationalstatus of the substrate holder 101 includes information necessary tocharacterize how the substrate holder 101 is rotating about therotational axis 105 in real-time, such as information on real-timerotational velocity of the substrate holder 101, real-time rotationalacceleration of the substrate holder 101, and/or real-time rotationaldeceleration of the substrate holder 101. The controller 131 isconfigured to direct the lift mechanism 129, by way of a lift controller305, to initiate vertical movement of the substrate holder 101 from thesubstrate entry start position 204 to the prescribed vertical position203 in accordance with the determined time delay.

Also, in some embodiments, the controller 131 can include a contactverification module 327 configured to record an actual azimuthalposition of the notch alignment feature 117 relative to the fixedreference ray 115 at a precise instance when the substrate holder 101reaches the prescribed vertical position 203. In some embodiments, thecontact verification module 327 is configured to determine an azimuthaldifference between the actual azimuthal position of the notch alignmentfeature 117 relative to the fixed reference ray 115 (at the preciseinstance when the substrate holder 101 reaches the prescribed verticalposition 203) and the prescribed azimuthal position of the notchalignment feature 117 relative to the fixed reference ray 115. And, insome embodiments, the contact verification module 327 is configured todetermine an adjustment to the time delay (as determined by the approachinitiation control module 321) based on the determined azimuthaldifference in order to reduce an absolute value of the azimuthaldifference to an acceptable level. In some embodiments, the acceptablelevel of the absolute value of the azimuthal difference is up to about 5degrees. And, in some embodiments, the controller 131 is configured toapply the determined adjustment to the time delay for initiatingvertical movement of the substrate holder 101 in a subsequent substrateprocessing event.

In some embodiments, the controller 131 is configured to receive aspecified substrate entry profile as an input along with the substrateentry start position 204 data and determine the entry process time thatwill elapse from the initial vertical movement of the substrate holder101 away from the substrate entry start position 204 until the substrateholder 101 reaches the prescribed vertical position 203 at which thesubstrate 103 first contacts the electroplating solution 111. Then,based on this entry process time and tracking of the substrate holder101 movement during the entry process, the controller 131 determineswhere the notch alignment feature 117 will be located relative to thefixed reference ray 115 when the substrate holder 101 reaches theprescribed vertical position 203. Then, the controller 131 determines atime delay required before initiating vertical movement of the substrateholder 101 away from the substrate entry start position 204 toward theprescribed vertical position 203 in order to have the notch alignmentfeature 117 located at a prescribed location relative to the fixedreference ray 115 when the substrate 103 first contacts theelectroplating solution 111. In some embodiments, the time delay can beup to 2 seconds. However, it should be understood that the time delaycan be essentially any amount time as needed based on the entry profilecharacteristics.

In some embodiments, the entry profile that is pre-determined as part ofthe electroplating recipe does not get changed during the substrate 103entry process into the electroplating solution 111. Rather, thedetermined time delay is applied at the substrate entry start position204 after a move-to-plate command is issued, so that movement of thesubstrate holder 101 in accordance with the pre-determined entry profilewill cause the notch alignment feature 117 to be at the prescribedlocation relative to the fixed reference ray 115 when the substrate 103first contacts the electroplating solution 111. In other words, with apre-programmed entry profile, it is possible to determine where thenotch alignment feature 117 should be positioned relative to the fixedreference ray 115 when vertical movement of the substrate holder 101toward the electroplating solution 111 is initiated, so that the notchalignment feature 117 will be located at the prescribed locationrelative to the fixed reference ray 115 when the substrate 103 firstcontacts the electroplating solution 111. And, because the notchalignment feature 117 location is tracked by the controller 131 from theinitial loading of the substrate 103 on the substrate holder 101, thecontroller 131 is able to determine the required time delay in order tohave the notch alignment feature 117 at the prescribed location relativeto the fixed reference ray 115 when vertical movement of the substrateholder 101 toward the electroplating solution 111 is initiated.

It should be understood that the principles described herein forcontrolling the entry of the substrate 103 into the bath of theelectroplating solution 111 can be generalized to any application beyondthe electroplating application. In a generalized embodiment, thesubstrate holder is to be moved linearly in a direction normal to atarget plane, where the target plane can have any spatial orientation,e.g., horizontal, vertical, off-level, etc. In this generalizedembodiment, the rotational axis 105 of the substrate holder 101 isoriented normal to the target plane. Also, in this generalizedembodiment, tilting of the substrate holder 101 at the prescribedangular position 112 is done relative to a reference plane that isparallel to the target plane. Also, in this generalized embodiment, theprescribed vertical position 203 relative to the target horizontal plane113, as described with regard to the vertical (z-direction) movementembodiment, becomes a prescribed normal position relative to the targetplane, i.e., a prescribed position on a vector normal to the targetplane along which the substrate holder 101 moves toward the targetplane.

FIG. 4 shows a flowchart of a method for controlling an approach of asubstrate (103) toward a target horizontal plane (113), in accordancewith some embodiments of the present invention. The method includes anoperation 401 for positioning a substrate (103) on a support surface ofa substrate holder (101) configured to securely hold the substrate(103). The substrate holder (101) has a notch alignment feature (117)located at a periphery of the support surface of the substrate holder(101). The substrate holder (101) is configured to rotate about arotational axis (105) extending through a centerpoint of the supportsurface of the substrate holder (101). The rotational axis (105) isoriented normal to the support surface of the substrate holder (101).The substrate holder (101) is configured to tilt relative to ahorizontal reference plane (110). The substrate holder (101) isconfigured to move vertically relative to the target horizontal plane(113). The method also includes an operation 403 for tilting thesubstrate holder (101) to a prescribed angular position (112) of thesupport surface relative to the horizontal reference plane (110). Themethod also includes an operation 405 for rotating the substrate holder(101) about the rotational axis (105) at a prescribed rotational speed.

The method also includes an operation 407 for determining a real-timeazimuthal position of the notch alignment feature (117) as the substrateholder (101) rotates about the rotational axis (105), where thereal-time azimuthal position of the notch alignment feature (117) isdetermined relative to a fixed reference ray (115) extendingperpendicularly away from the rotational axis (105). The method alsoincludes an operation 409 for determining an approach initiationazimuthal position of the notch alignment feature (117) relative to thefixed reference ray (115) at which vertical movement of the substrateholder (101) should initiate in order to have the notch alignmentfeature (117) located at a prescribed azimuthal position relative to thefixed reference ray (115) when the substrate holder (101) reaches aprescribed vertical position (203) relative to the target horizontalplane (113). In some embodiments, determining the approach initiationazimuthal position of the notch alignment feature (117) relative to thefixed reference ray (115) includes processing an entry profile thatincludes a rotational movement specification for the substrate holder(101) and a vertical movement specification for the substrate holder(101) to be implemented from initiation of vertical movement of thesubstrate holder (101) until the substrate holder (101) reaches theprescribed vertical position (203) relative to the target horizontalplane (113).

The method also includes an operation 411 for determining a time delayrequired to have the notch alignment feature (117) located at theapproach initiation azimuthal position based on the determined real-timeazimuthal position of the notch alignment feature (117) and on theprescribed rotational speed.

In some embodiments, determining the time delay required to have thenotch alignment feature (117) located at the approach initiationazimuthal position and initiating vertical movement of the substrateholder (101) toward the target horizontal plane (113) in accordance withthe determined time delay is performed through a combination of hardwareand firmware to avoid imprecision in initiating vertical movement of thesubstrate holder (101) toward the target horizontal plane (113) due tosignal communication delay. The method also includes an operation 413for initiating vertical movement of the substrate holder (101) towardthe target horizontal plane (113) in accordance with the determined timedelay. In some embodiments, the method can also include an operation forrecording an actual azimuthal position of the notch alignment feature(117) relative to the fixed reference ray (115) at a precise instancewhen the substrate holder (101) reaches the prescribed vertical position(203) relative to the target horizontal plane (113).

In some embodiments of the method of FIG. 4 , the target horizontalplane (113) corresponds to a top surface of a bath of an electroplatingsolution (111) located below the substrate holder (101), and the supportsurface of the substrate holder (101) is a lower surface of thesubstrate holder (101), and the vertical movement of the substrateholder (101) toward the target horizontal plane (113) is a downwardmovement of the substrate holder (101). However, it should be understoodthat the method of FIG. 4 is not limited to an electroplating process.For example, the method of FIG. 4 can be applied equally to ageneralized embodiment in which the substrate holder (101) is to bemoved linearly in a direction normal to a target plane, where the targetplane can have any spatial orientation, e.g., horizontal, vertical,off-level, etc. In this generalized embodiment, the rotational axis(105) of the substrate holder (101) is oriented normal to the targetplane. Also, in this generalized embodiment, the substrate holder (101)is tilted to a prescribed angular position (112) relative to a referenceplane that is parallel to the target plane. Also, in this generalizedembodiment, the prescribed vertical position (203) relative to thetarget horizontal plane (113) becomes a prescribed normal positionrelative to the target plane.

FIG. 5A shows a number of substrate metrology haze maps demonstrating alack of control of the notch alignment feature 117 position relative tothe fixed reference ray 115 when the substrate 103 first contacts theelectroplating solution 111 that can occur without the Advanced NotchControl systems and methods disclosed herein. FIG. 5A shows a location501 on each substrate that first contacts the electroplating solution111. The substrate-to-substrate variability with regard to the locationon the substrate that first contacts the electroplating solution 111 canbe attributed to substrate holder 101 vertical movement and/orrotational movement timing differences between electroplating processesperformed on different substrates.

FIG. 5B shows a number of substrate metrology haze maps demonstratinghow the Advanced Notch Control systems and methods disclosed hereinprovide for control of the notch alignment feature 117 position relativeto the fixed reference ray 115 when the substrate 103 first contacts theelectroplating solution 111, in accordance with some embodiments of thepresent invention. FIG. 5B demonstrates that the Advanced Notch Controlsystems and methods disclosed herein provide for effective monitoringand control of the notch alignment feature 117 position relative to thefixed reference ray 115 to enable repeatability of the location of thenotch alignment feature 117 position relative to the fixed reference ray115 when the substrate 103 first contacts the electroplating solution111 in different electroplating processes performed on differentsubstrates, which can facilitate defect troubleshooting.

FIG. 6 shows a comparison of the notch alignment feature 117 locationsduring substrate entry for a set of substrates run with different entryconditions both with and without the Advanced Notch Control systems andmethods disclosed herein. Without the Advanced Notch Control, the notchalignment feature 117 locations can vary randomly within a range from−180° to +180° relative to the fixed reference ray 115. With theAdvanced Notch Control, the notch alignment feature 117 locations can becontrolled within a 5° range about the prescribed position of the notchalignment feature 117 relative to the fixed reference ray 115, asindicated by the tightly grouped cluster of data points 601. In someembodiments, the Advanced Notch Control systems and method describedherein can control the position of the notch alignment feature 117relative to the fixed reference ray 115 at the instance when thesubstrate 103 first contacts the electroplating solution 111 within anazimuthal range of up to +/−5°, regardless of entry profile andelectroplating system setup.

The Advanced Notch Control systems and methods described herein includeadvancements in the controller 131 hardware and firmware, and in thecontroller 131 software program to enable integrated control of thesubstrate holder 101 vertical movement, rotational movement, and tiltmovement. It should be appreciated that by controlling the vertical,rotational, and tilt movements of the substrate holder 101 through asingle master controller 131 during entry of the substrate 103 into theelectroplating solution 111, these different movements of the substrateholder 101 can be synchronized and executed with very precise timing toprovide control over the location on the substrate 103 that firstcontacts the electroplating solution 111. Also, the Advanced NotchControl systems and methods disclosed herein provide for implementationof specially coordinated vertical, rotational, and tilt movements of thesubstrate holder 101 during entry of the substrate 103 into theelectroplating solution 111, which can result in electroplating processimprovement and device yield improvement. With vertical, rotational, andtilt movements of the substrate holder 101 under the control of a singlemaster controller 131, it is possible to plan entry movement of thesubstrate 103 into the electroplating solution 111 and prescribe a notchalignment feature 117 azimuthal position relative to the location on thesubstrate 103 that first contacts the electroplating solution 111 inaccordance with a user-defined program and/or process recipe.

In some embodiments, the firmware in the controller 131 is configured toperform substrate holder 101 vertical movement entry profilecomputations through point tables in the firmware for both trapezoidaland complex function entry movements. A trapezoidal entry point tablecan be designed to account for variability in the substrate holder 101vertical acceleration, substrate holder 101 vertical deceleration,substrate 103 entry liquid touch point, and substrate holder 101positon. With the substrate holder 101 vertical movement profilesimplemented as part of the firmware, it is possible to pre-calculate thesubstrate holder 101 vertical movement timings based on the specificsubstrate holder 101 vertical movement profile requested through theprocess recipe. The controller 131 firmware enables real-time trackingof the notch alignment feature 117 location and uses that to predict thenotch alignment feature 117 location at any given vertical position ofthe substrate holder 101 based on any substrate holder 101 verticalmovement profile and rotational velocity specified within the processrecipe.

As discussed above, in the absence of the Advanced Notch Control systemsand method disclosed herein, execution of the electroplating processprior to entry of the substrate 103 into the electroplating solution 111can include some signal communication delays that cause variability inthe notch alignment feature 117 position relative to the location on thesubstrate 103 that first contacts the electroplating solution 111.However, with the Advanced Notch Control systems and methods, thecontroller 131 is able to track the notch alignment feature 117 positionin real-time up to the very last move-to-plate command that initiatesvertical movement of the substrate holder 101 toward the bath of theelectroplating solution 111. Prior to the move-to-plate command, thecontroller 131 tracks the notch alignment feature 117 location,pre-calculates the substrate holder 101 vertical movement timings, andpredicts the final notch alignment feature 117 position when thesubstrate 103 first contacts the electroplating solution 111. Also, insome embodiments, the location on the substrate 103 that is to firstcontact the electroplating solution 111 can be specified as an inputthrough control system software in communication with the controller131.

In some embodiments, it may be desired to have the same location on thesubstrate 103 first contact the electroplating solution 111 for eachsubstrate in a lot of multiple substrates. The Advanced Notch Controlsystems and methods disclosed herein provide for dynamic computation ofthe time delay needed have the notch alignment feature 117 at theprescribed location relative to the fixed reference ray 115 when thesubstrate 103 first contacts the electroplating solution 111 asspecified in the electroplating process recipe. The controller 131performs the timing computations in real-time for accurate andrepeatable control of the notch alignment feature 117 location at themoment the substrate 103 first contacts the electroplating solution 111based on the existing rotational velocity of the substrate holder 101and the substrate holder 101 vertical movement specification within theelectroplating recipe. Also, because the timing computations areperformed rapidly by firmware within the controller 131, substrateprocessing throughput is enhanced.

In some embodiments, a substrate electroplating process entry profile isdefined by a set of 3 to 50 lift point tables. Each of the points in thelift point table includes the substrate holder 101 vertical position(defined relative to the prescribed substrate holder vertical position203 at which the substrate 103 first contacts the electroplatingsolution 111), along with substrate holder 101 vertical movementvelocity, acceleration, and deceleration values at the substrate holder101 vertical position. An example substrate electroplating process entryprofile having 25 points will be defined by 100 parameter values,corresponding to substrate holder 101 vertical movement velocity,acceleration, and deceleration values at each substrate holder 101vertical position.

Since each electroplating process recipe can have a different entryprofile, in some embodiments, the controller 131 calculates the entryprofiles each time a substrate electroplating process is performed,which requires some time overhead than may impact throughput. In someembodiments, the substrate electroplating process entry profiles can beoptimized and tailored for specific technology nodes for yieldenhancements. However, once the entry profile is optimized, inhigh-volume manufacturing the same entry profile can be run for manysubstrate lots. In some embodiments, the controller 131 provides fordynamic comparison of a current electroplating process recipe withelectroplating process recipes that have been previously performed. And,if the dynamic comparison shows a match between the currentelectroplating process recipe and a previously executed electroplatingprocess recipe, the controller 131 can use the entry profile previouslycomputed for the previously executed electroplating process recipe,thereby reducing the time overhead needed for computation of the entryprofile, which results in faster execution of the move-to-plate commandand improved throughput.

In some embodiments, electroplating process throughput can be enhancedby improvement in the time delay control for initiating verticalmovement of the substrate holder 101 toward the electroplating solution111. As discussed herein, the time delay prior to initiating verticalmovement of the substrate holder 101 toward the electroplating solution111 is integral to controlling the notch alignment feature 117 locationat the instance when the substrate 103 first contacts the electroplatingsolution 111. Since the time delay computation is performed dynamicallywith the controller 131, there may be some timing overhead delay ininitiating vertical movement of the substrate holder 101 toward theelectroplating solution 111, which can result in some inaccuracy innotch alignment feature 117 location at the instance when the substrate103 first contacts the electroplating solution 111. In some embodiments,to address this issue, an adjustment can be made to the timing delay forinitiating vertical movement of the substrate holder 101 to account forthe controller 131 computational time overhead. However, in some cases,this adjustment to the timing delay for initiating vertical movement ofthe substrate holder 101 may affect throughput.

In some embodiments, to compensate for the controller 131 computationtime overhead, a threshold-based rotation trigger check is enabled thatdynamically determines an azimuthal offset of the notch alignmentfeature 117 with respect to the required notch alignment feature 117location at which vertical movement of the substrate holder 101 is to beinitiated, and increases the substrate holder 101 rotational velocitywhen the determined azimuthal offset of the notch alignment feature 117is less than a set azimuthal offset threshold value. It should beappreciated that increasing the substrate holder 101 rotational velocityto compensate for the controller 131 computation time overhead does notrequire an increase in the timing delay for initiating vertical movementof the substrate holder 101 to account for the azimuthal offset. Also,it should be appreciated that increasing the substrate holder 101rotational velocity to compensate for the controller 131 computationtime overhead is only done when the azimuthal offset indicates thatthere is a possibility of an unacceptable amount of overshoot of theprescribed notch alignment feature 117 location at the instance when thesubstrate 103 first contacts the electroplating solution 111. Over thecourse of many electroplating processes, the threshold-based rotationtrigger check can reduce an overall timing delay for initiating verticalmovement of the substrate holder 101 toward the electroplating solution111 as part of implementing the Advanced Notch Control systems andmethods.

With the Advanced Notch Control systems and methods disclosed hereinmany other substrate entry process enhancements can be enabled,including coordination of rotation and vertical movement profiles duringsubstrate entry for process improvement, use of advanced rotationprofiles such as reverse rotation triggered by entry, back-and-forthmotion with coordinated vertical motion, and rotation velocity changetriggered by entry, among others. These substrate entry processenhancements afforded by the Advanced Notch Control systems and methodsdisclosed herein have been shown to provide electroplating processimprovements. Additionally, it should be understood that the AdvancedNotch Control systems and methods disclosed herein are not limited touse in electroplating processes, but can be implemented on any tool thatrequires controlling movement of a substrate with regard to multipleaxes of motion, e.g., tilt, rotation, linear movement.

It should be understood that without the Advanced Notch Control systemsand methods disclosed herein, an electroplating system having twoseparate master controllers for substrate holder 101 vertical movementand substrate holder 101 rotation, respectively, would require anadditional communication layer established between the separate mastercontrollers to attempt the notch alignment feature 117 position controlas provided by the Advanced Notch Control systems and methods disclosedherein. An electroplating system implementing the additionalcommunication layer to establish direct communication between theseparate master controllers for substrate holder 101 vertical movementand substrate holder 101 rotation would be less accurate and moreexpensive than the electroplating system implementing the Advanced NotchControl systems and methods as disclosed herein. Or, without theAdvanced Notch Control systems and methods disclosed herein, anelectroplating system having two separate master controllers forsubstrate holder 101 vertical movement and substrate holder 101rotation, respectively, would have to manage the coordination betweenthe vertical movement and rotation control systems, which would be leastaccurate. Also, with this least accurate electroplating systemconfiguration, characterization of the notch alignment feature 117position at the instance the substrate 103 first contacts theelectroplating solution 111 would have to be determined empirically.This means for every type of substrate entry profile and electroplatingsystem hardware setup, it would be necessary to execute repeatedsubstrate entry movements in order to “teach” the control system, whichwould required tool downtime and increase costs.

Although the foregoing invention has been described in some detail forpurposes of clarity of understanding, it will be apparent that certainchanges and modifications can be practiced within the scope of theappended claims. Accordingly, the present embodiments are to beconsidered as illustrative and not restrictive, and the invention is notto be limited to the details given herein, but may be modified withinthe scope and equivalents of the described embodiments.

What is claimed is:
 1. An apparatus for holding a substrate, comprising:a substrate holder having a lower surface configured to contact abackside of a substrate, the substrate holder configured to hold thebackside of the substrate against the substrate holder; a rotationmechanism connected to the substrate holder, the rotation mechanismproviding rotational control of the substrate holder about a rotationalaxis that extends perpendicular to the lower surface of the substrateholder at a rotational center location on the lower surface of thesubstrate holder; a lift mechanism connected to the substrate holder,the lift mechanism providing vertical position control of the rotationalcenter location along a direction perpendicular to a target horizontalplane; a tilt mechanism connected to the substrate holder, the tiltmechanism providing for control of an angle of the lower surface of thesubstrate holder as measured about the rotational center locationbetween the rotational axis and the direction perpendicular to thetarget horizontal plane; and a controller connected to directsynchronized operation of the rotation mechanism, the lift mechanism,and the tilt mechanism, such that a specified location on a perimeter ofthe lower surface of the substrate holder is at a first prescribeddistance above the target horizontal plane when the rotational centerlocation is at a second prescribed distance above the target horizontalplane as the rotational center location is moved perpendicularly towardthe target horizontal plane.
 2. The apparatus for holding the substrateas recited in claim 1, wherein the controller is configured to directexecution of a lift mechanism control command with a delay of less thanone microsecond, and wherein the controller is configured to directexecution of a rotational mechanism control command with a delay of lessthan one microsecond.
 3. The apparatus for holding the substrate asrecited in claim 1, wherein the controller is programmable to enableoperation of the rotation mechanism, the lift mechanism, and the tiltmechanism in accordance with a prescribed recipe.
 4. The apparatus forholding the substrate as recited in claim 1, wherein the targethorizontal plane is a surface of a bath of electroplating solution. 5.The apparatus for holding the substrate as recited in claim 1, whereinthe specified location on the perimeter of the lower surface of thesubstrate holder is a notch alignment feature to which a notch of thesubstrate is substantially aligned when the substrate is positioned onthe substrate holder.
 6. The apparatus for holding the substrate asrecited in claim 5, wherein the controller includes a notch alignmentfeature location module configured to determine a real-time azimuthalposition of the notch alignment feature about the rotational axis. 7.The apparatus for holding the substrate as recited in claim 6, whereinthe notch alignment feature location module is implemented as acombination of hardware and firmware.
 8. The apparatus for holding thesubstrate as recited in claim 5, wherein the controller includes anapproach initiation control module configured to determine an approachinitiation azimuthal position of the notch alignment feature about therotational axis when the lift mechanism initiates movement of thesubstrate holder toward the target horizontal plane for a givencombination of rotational speed of the substrate holder about therotational axis and vertical movement speed temporal profile for thesubstrate holder toward the target horizontal plane.
 9. The apparatusfor holding the substrate as recited in claim 8, wherein the verticalmovement speed temporal profile for the substrate holder includes avertical acceleration temporal profile for the substrate holder and avertical velocity temporal profile for the substrate holder.
 10. Theapparatus for holding the substrate as recited in claim 5, wherein thecontroller includes a contact verification module configured to recordan azimuthal position of the notch alignment feature about therotational axis when the rotational center location is at the secondprescribed distance above the target horizontal plane.
 11. A method forholding a substrate, comprising: disposing a substrate on a substrateholder so that a bottom surface of the substrate is positioned against alower surface of the substrate holder and so that a top surface of thesubstrate is facing downward and away from the substrate holder;operating a rotation mechanism to provide rotational control of thesubstrate holder about a rotational axis that extends perpendicular tothe lower surface of the substrate holder at a rotational centerlocation on the lower surface of the substrate holder; operating a liftmechanism to provide vertical position control of the rotational centerlocation along a direction perpendicular to a target horizontal planelocated vertically below the substrate holder; operating a tiltmechanism to provide control of an angle of the lower surface of thesubstrate holder as measured about the rotational center locationbetween the rotational axis and the direction perpendicular to thetarget horizontal plane; and synchronously controlling operation of therotation mechanism, the lift mechanism, and the tilt mechanism so that aspecified location on a perimeter of the lower surface of the substrateholder is at a first prescribed distance above the target horizontalplane when the rotational center location is at a second prescribeddistance above the target horizontal plane while moving the rotationalcenter location perpendicularly toward the target horizontal plane. 12.The method as recited in claim 11, wherein the lift mechanism executes asubstrate holder vertical movement command with a delay of less than onemicrosecond, and wherein the rotation mechanism executes a substrateholder rotation command with a delay of less than one microsecond. 13.The method as recited in claim 11, wherein the rotation mechanism, thelift mechanism, and the tilt mechanism collectively operate inaccordance with a prescribed recipe.
 14. The method as recited in claim11, wherein the target horizontal plane is a surface of a bath ofelectroplating solution.
 15. The method as recited in claim 11, whereinthe specified location on the perimeter of the lower surface of thesubstrate holder is a notch alignment feature to which a notch of thesubstrate is substantially aligned when the substrate is disposed on thesubstrate holder.
 16. The method as recited in claim 15, furthercomprising: determining a real-time azimuthal position of the notchalignment feature about the rotational axis.
 17. The method as recitedin claim 16, wherein the real-time azimuthal position of the notchalignment feature about the rotational axis is determined through acombination of hardware and firmware.
 18. The method as recited in claim15, further comprising: determining an approach initiation azimuthalposition of the notch alignment feature about the rotational axis whenthe lift mechanism initiates movement of the substrate holder toward thetarget horizontal plane for a given combination of rotational speed ofthe substrate holder about the rotational axis and vertical movementspeed temporal profile for the substrate holder toward the targethorizontal plane.
 19. The method as recited in claim 18, wherein thevertical movement speed temporal profile for the substrate holderincludes a vertical acceleration temporal profile for the substrateholder and a vertical velocity temporal profile for the substrateholder.
 20. The method as recited in claim 15, further comprising:recording an azimuthal position of the notch alignment feature about therotational axis when the rotational center location is at the secondprescribed distance above the target horizontal plane.